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Ignore SBus end byte checking, this should improve compatibility with

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some Futaba SBUS RX's that send telemetry data after SBus frames.  Fixes
#590
This commit is contained in:
Dominic Clifton 2015-05-19 19:41:15 +01:00
parent 5a05c19bb6
commit 26f2affd88
1 changed files with 10 additions and 5 deletions
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15
src/main/rx/sbus.c
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@ -65,7 +65,6 @@ static uint16_t sbusStateFlags = 0;
#define SBUS_FRAME_SIZE 25
#define SBUS_FRAME_BEGIN_BYTE 0x0F
#define SBUS_FRAME_END_BYTE 0x00
#define SBUS_BAUDRATE 100000
#define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED)
@ -123,6 +122,13 @@ struct sbusFrame_s {
unsigned int chan14 : 11;
unsigned int chan15 : 11;
uint8_t flags;
/**
* The endByte is 0x00 on FrSky and some futaba RX's, on Some SBUS2 RX's the value indicates the telemetry byte that is sent after every 4th sbus frame.
*
* See https://github.com/cleanflight/cleanflight/issues/590#issuecomment-101027349
* and
* https://github.com/cleanflight/cleanflight/issues/590#issuecomment-101706023
*/
uint8_t endByte;
} __attribute__ ((__packed__));
@ -158,12 +164,11 @@ static void sbusDataReceive(uint16_t c)
sbusFramePosition++;
if (sbusFramePosition == SBUS_FRAME_SIZE) {
if (sbusFrame.frame.endByte == SBUS_FRAME_END_BYTE) {
sbusFrameDone = true;
// endByte currently ignored
sbusFrameDone = true;
#ifdef DEBUG_SBUS_PACKETS
debug[2] = sbusFrameTime;
debug[2] = sbusFrameTime;
#endif
}
} else {
sbusFrameDone = false;
}